[go: up one dir, main page]

US6193002B1 - Actuator for accomplishing the swinging motion of a swinging arm - Google Patents

Actuator for accomplishing the swinging motion of a swinging arm Download PDF

Info

Publication number
US6193002B1
US6193002B1 US09/269,377 US26937799A US6193002B1 US 6193002 B1 US6193002 B1 US 6193002B1 US 26937799 A US26937799 A US 26937799A US 6193002 B1 US6193002 B1 US 6193002B1
Authority
US
United States
Prior art keywords
piston
pressurized medium
cylinders
swinging arm
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US09/269,377
Other languages
English (en)
Inventor
Marko Paakkunainen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
John Deere Forestry Oy
Original Assignee
Plustech Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Plustech Oy filed Critical Plustech Oy
Assigned to PLUSTECH OY reassignment PLUSTECH OY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PAAKKUNAINEN, MARKO
Application granted granted Critical
Publication of US6193002B1 publication Critical patent/US6193002B1/en
Assigned to JOHN DEERE FORESTRY OY reassignment JOHN DEERE FORESTRY OY MERGER (SEE DOCUMENT FOR DETAILS). Assignors: PLUSTECH OY
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Definitions

  • the invention relates to an actuator for accomplishing the swinging motion of a swinging arm, wherein the swinging arm refers to a swinging arm carrying a load and usually accomplishing a progressive movement of a so-called walking vehicle, such as a forest machine, by means of its rotating movement.
  • the swinging arm is part of a leg that is articulated with another structure, such as a body of a vehicle, to be pivotal with respect thereto around its rotation axis.
  • An actuator is arranged to be effective on both sides of the rotation axis, for providing a torque at the rotation axis.
  • the swinging arm constitutes thus the leg or the like in the vehicle, or a part of the leg. The vehicle moves when it is carried by the legs in turns.
  • each leg generally comprises at least two swinging arms which are connected to each other pivotally, the upper one being mounted pivotally on the body of the vehicle, usually on a piece pivotal in relation to the body.
  • the swinging motion of the swinging arm is accomplished preferably with two hydraulic cylinders connected at one end to the swinging arm and at the other end to a structure, in relation to which the swinging arm is arranged to pivot.
  • the pair of cylinders alternately lifts and descends the swinging arm in relation to the rotation axis at its end.
  • an alternating supporting stage and transfer stage of the leg are accomplished with the movements.
  • a good example of such a leg that can have two swinging arms is the previous Finnish Patent No. 87171 by the applicant.
  • the actuator according to the invention is characterized in a system feeding pressurized medium required for the operation of the cylinder, not only to cylinders coupled in parallel in a manner known as such, but alternatively to only one of the two cylinders of the actuator, particularly in the transfer stage.
  • the most considerable advantage of the invention is the possibility to limit the volume flow of the pressurized medium from the pump and simultaneously to save pump capacity, which is important in the case of a walking vehicle comprising several actuators.
  • the pump and its drive motor do not need to be loaded unnecessarily during the transfer stage, a fact substantially reducing the operating costs in the long run.
  • the speed of propagation of the vehicle will not suffer from limiting the volume flow at the transfer stage. Also the operating efficiency at the transfer stage will be substantially improved, as will be presented below.
  • FIG. 1 shows the actuator schematically seen from the side
  • FIG. 2 shows an advantageous embodiment of the invention.
  • an actuator refers to a pair of hydraulic cylinders and a valve controlling the flow of pressurized medium to them.
  • the actuator according to the invention consists of two cylinders S, S′ fixed at fixing points 11 , 11 ′ in a swinging arm.
  • the cylinders comprise in a known way a chamber 6 , 6 ′ accommodating a moving piston 7 , 7 ′ dividing the chamber in two working chambers, a piston chamber 9 , 9 ′ and a piston rod chamber 10 , 10 ′.
  • the piston rods 8 , 8 ′ of the cylinders are connected to ends of a rotation piece K, the piece being connected in a torsionally rigid manner to an element, in relation to which the swinging arm is arranged rotatable according to the movements of the pistons 7 , 7 ′ around a rotational axis A extending through the piece K.
  • a first control valve 1 (4/3 directional valve) is placed at the junction of the connecting lines 5 , 5 ′ leading to the cylinders and a supply line 3 and a return line 4 .
  • Pressurized medium is supplied to the cylinders from the pressurized medium tank by a pump through the supply line 3 , and the guiding of the pressurized medium appropriately to the chambers 6 , 6 ′ is arranged with the first control valve 1 by changing the position of parts 1 a , 1 b between the line pair formed by the supply line 3 and the return line 4 and the line pair formed by the connecting lines 5 , 5 ′ leading to the chambers 6 , 6 ′.
  • the supply line 3 is connected with either of the two connecting lines 5 , 5 ′ depending on the position of the control valve 1 , and the control valve also has a position separating the actuator entirely from the pump.
  • the connecting lines 5 , 5 ′ are further branched into first branch lines 5 a , 5 a ′ leading to the piston chambers 9 , 9 ′ and into second branch lines 5 b , 5 b ′ leading to the piston rod chambers 10 , 10 ′.
  • a second control valve 2 a 4/2 directional valve also known as such, is located downstream the branching point of the first branch lines 5 a , 5 a ′, guiding the flow from the connecting lines 5 , 5 ′ in the pair formed by the second branch lines 5 b , 5 b ′ either so that
  • pressurized medium is supplied simultaneously through the first branch line to the piston chamber of the first cylinder, and through the second branch line, controlled by the first position 2 a of the second control valve 2 , to the piston rod chamber of the second cylinder, i.e. pressurized medium is supplied to both cylinders, or
  • pressurized medium is supplied to only one of the cylinders, wherein the first branch line to its piston chamber and the second branch line to its piston rod chamber are, controlled by the second position 2 b of the second control valve 2 , connected with each other, i.e. the pressurized one of the connecting lines 5 , 5 ′ is connected simultaneously with both the piston chamber and the piston rod chamber of the same cylinder.
  • the coupling is implemented by normal directional control valve technique, whereby a valve in the pair of lines (second branch lines 5 b , 5 b ′) couples the connections on its opposite sides together, either directly or crosswise.
  • the pressurized medium pump maintains the required pressure in the cylinder S and causes a movement by feeding there pressurized medium only to the extent required by the difference between the work areas on different sides of the piston 7 , thereby reducing the volume flow required by the movement of the piston.
  • the pressure is substantially the same, being effective on the piston 7 on its both sides, however in a way that on the side of the piston chamber 9 , the pressure on the piston is directed to a greater work area and on the side of the piston rod chamber 10 it is directed only to an area which is the total area of the piston less the cross-sectional area of the piston rod.
  • p 2 is increased in the same proportion because of the reduced effective work area, and consequently also the expression p p -p 2 is reduced. Moving the leg at the transfer stage takes the same power as before, but the operating efficiency is improved.
  • the other cylinder S′ of the actuator moves passively, i.e. it becomes shorter.
  • the volume of the piston chamber 9 ′ will thus be reduced more than the volume of the piston rod chamber 10 is increased.
  • these chambers are coupled to each other through the branches 5 a ′ and 5 b ′, the flow required by the increase in the volume of the piston rod chamber 10 ′ is supplied by the volume displaced from the piston chamber 9 ′, and the excessive volume returns along the connecting line 5 ′ and the return line 4 .
  • the internal circulation will be effective also on the return side of the pressurized medium according to the same principle: the volume of the hydraulic medium displaced from one side of the piston is utilized to supplement the simultaneous volume demand on the opposite side.
  • the coupling can be named as “regenerative coupling”.
  • the first control valve 1 For swinging the swinging arm to the opposite direction, the first control valve 1 is shifted to a position in which the supply line 3 is connected to the second connecting line 5 ′.
  • the control valves 1 and 2 have clearly differentiated functions: the first one is used to change the direction of motion and the second one is used for coupling the cylinders S, S′ to the connecting lines 5 , 5 ′.
  • Said first control valve 1 and second control valve 2 are moved to the required positions by control arrangements known as such. They are electrically controlled directional valves.
  • the second control valve 2 is in a position 2 a of parallel connection under spring load, and it is moved electrically to the second position 2 b .
  • the actuator is fully operable in both directions, and both ways of coupling are possible irrespective of the direction of motion of the swinging arm.
  • the swinging arm is pivoted by using an arrangement in which the pressurized medium is supplied at the support stage by parallel connection when the second control valve 2 is in the first position 2 a , and at the transfer stage, with a smaller power need, by the regenerative coupling in the second position 2 b of the valve 2 .
  • FIG. 2 shows a typical vehicle advancing by the movement of legs.
  • the actuators can be effective e.g. in the joint between the lower swinging arm V 2 and the upper swinging arm V 1 , i.e. the “knee joint” and in the joint between the upper swinging arm V 1 and the body R, i.e. the “hip joint” L.
  • FIG. 1 Block lines illustrate the location of actuators formed by cylinders S, S′ in the upper swinging arm V 1 .
  • the actuator inducing the pivotal movement between the body R and the upper swinging arm V 1 at the hip joint L, and the actuator inducing the pivotal movement between the upper swinging arm V 1 and the lower swinging arm V 2 at the knee joint P are both placed in the upper swinging arm V 1 , in which the actuator of the hip joint L is connected at one end to a piece included in a torsionally rigid manner in the body R (or to a piece pivotal in relation to the same), and the actuator of the knee joint P is connected at one end to a piece included in a torsionally rigid manner in the lower swinging arm V 2 .
  • the mechanism and structure of the leg are presented in more detail in the earlier Finnish patent 87171 by the applicant.
  • the electric control of the valve 2 can be connected in a suitable manner to the control automatics of the machine.
  • the second control valve 2 for changing the parallel coupling to a regenerative coupling can be implemented also in another way.
  • it can be divided into two separate valves, e.g. by implementing it with two 3/2 directional valves, each being located in a branch line 5 b , 5 b ′ of its own, with two connections on the other side of the valve, one for each cylinder.
  • the connecting lines 5 , 5 ′ can branch also in another way to piston chambers and piston rod chambers of the cylinders.
  • FIG. 1 with the first branch lines 5 a , 5 a ′ leading directly to the piston chambers 9 , 9 ′ is advantageous, because in this case a smaller volume flow required/produced by the piston rod chamber needs to be passed through the valve 2 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)
US09/269,377 1996-09-25 1997-09-25 Actuator for accomplishing the swinging motion of a swinging arm Expired - Fee Related US6193002B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI963823A FI100873B (fi) 1996-09-25 1996-09-25 Toimilaite kääntövarren kääntöliikkeen aikaansaamiseksi
FI963823 1996-09-25
PCT/FI1997/000575 WO1998013251A1 (fr) 1996-09-25 1997-09-25 Actionneur d'execution du mouvement d'oscillation d'un bras oscillant

Publications (1)

Publication Number Publication Date
US6193002B1 true US6193002B1 (en) 2001-02-27

Family

ID=8546742

Family Applications (1)

Application Number Title Priority Date Filing Date
US09/269,377 Expired - Fee Related US6193002B1 (en) 1996-09-25 1997-09-25 Actuator for accomplishing the swinging motion of a swinging arm

Country Status (7)

Country Link
US (1) US6193002B1 (fr)
AU (1) AU4387397A (fr)
CA (1) CA2266558C (fr)
DE (1) DE19782018B4 (fr)
FI (1) FI100873B (fr)
SE (1) SE517469C2 (fr)
WO (1) WO1998013251A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6564888B1 (en) * 1999-08-30 2003-05-20 Honda Giken Kogyo Kabushiki Kaisha Biped mobile robot
US20040261561A1 (en) * 2001-11-09 2004-12-30 Toru Takenaka Leg joint assist device for legged movable robot
US20070169966A1 (en) * 2003-05-07 2007-07-26 Bim Kemi Ab Off-road vehicle comprising ambulatory limbs
US8567185B1 (en) * 2010-02-16 2013-10-29 Vecna Technologies, Inc. High efficiency actuator method, system and apparatus
CN103867504A (zh) * 2014-03-27 2014-06-18 昆山市工业技术研究院有限责任公司 一种机器人转动关节驱动装置及驱动方法
CN103994119A (zh) * 2014-06-12 2014-08-20 苏州劳灵精密机械有限公司 一种铰接内杆式双作用缸
CN104454710A (zh) * 2014-10-29 2015-03-25 吴家集 旋转运动控制系统
CN104930010A (zh) * 2015-06-01 2015-09-23 吴家集 震动打桩机液压系统
US20160258451A1 (en) * 2015-03-05 2016-09-08 Paul S. Anderson Hydraulic Cylinder Drive System
CN106812735A (zh) * 2017-02-13 2017-06-09 德迈智能装备有限公司 一种双缸液压旋转装置的控制方法
CN107642512A (zh) * 2017-10-19 2018-01-30 燕山大学 一种电液驱动间歇性摆动机构
CN111923081A (zh) * 2020-09-22 2020-11-13 佛山市鼎吉包装技术有限公司 一种用于驱动机械臂末端夹爪旋转的双气缸推挽驱动装置

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4109742A (en) 1977-02-24 1978-08-29 Iowa Manufacturing Company Steering and width controls for expandable tandem rollers
US4266627A (en) * 1978-02-22 1981-05-12 Willy Habegger Traveling assembly and wheel suspension for a rolling and stepping vehicle
DE3245191A1 (de) 1982-12-07 1984-06-07 Schwarz-Elektronik Duisburg GmbH, 4100 Duisburg Hydraulisch betriebene antriebseinrichtung fuer die ruderanlage bei schiffen
EP0119409A1 (fr) 1983-03-18 1984-09-26 Odetics, Inc. Mécanisme de pied et son servo-entraînement
US4527650A (en) 1983-03-18 1985-07-09 Odetics, Inc. Walking machine
US4558758A (en) * 1983-12-02 1985-12-17 Erwin Littman Prime mover
US4565487A (en) * 1981-09-04 1986-01-21 International Robotic Engineering, Inc. System of robots with legs or arms
US4662465A (en) 1984-04-02 1987-05-05 Stewart David E S Walking vehicle
US5353886A (en) 1990-08-14 1994-10-11 Plustech Oy Swinging arm
WO1995029836A1 (fr) 1994-04-29 1995-11-09 Älvsjö Data Ab Vehicule porte et actionne par des jambes articulees
WO1996007580A1 (fr) 1994-09-06 1996-03-14 Uragami Fukashi Appareil capable de monter et de se mouvoir sur la surface d'un objet
DE19547687A1 (de) 1995-12-20 1997-06-26 Rexroth Mannesmann Gmbh Hydraulischer Antrieb, insbesondere für ein Ruder eines Schiffes
US5842533A (en) * 1994-12-02 1998-12-01 Agency Of Industrial Science And Technology, Ministry Of International Trade And Industry Multi-legged walking apparatus

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH601049A5 (en) * 1974-11-25 1978-06-30 Eidgenoess Mil Dept Terrestrial vehicle driven by moving undulations in base
US4642019A (en) * 1984-12-19 1987-02-10 General Signal Corporation Hydraulic control system and valve therefor

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4109742A (en) 1977-02-24 1978-08-29 Iowa Manufacturing Company Steering and width controls for expandable tandem rollers
US4266627A (en) * 1978-02-22 1981-05-12 Willy Habegger Traveling assembly and wheel suspension for a rolling and stepping vehicle
US4565487A (en) * 1981-09-04 1986-01-21 International Robotic Engineering, Inc. System of robots with legs or arms
DE3245191A1 (de) 1982-12-07 1984-06-07 Schwarz-Elektronik Duisburg GmbH, 4100 Duisburg Hydraulisch betriebene antriebseinrichtung fuer die ruderanlage bei schiffen
EP0119409A1 (fr) 1983-03-18 1984-09-26 Odetics, Inc. Mécanisme de pied et son servo-entraînement
US4527650A (en) 1983-03-18 1985-07-09 Odetics, Inc. Walking machine
US4558758A (en) * 1983-12-02 1985-12-17 Erwin Littman Prime mover
US4662465A (en) 1984-04-02 1987-05-05 Stewart David E S Walking vehicle
US5353886A (en) 1990-08-14 1994-10-11 Plustech Oy Swinging arm
WO1995029836A1 (fr) 1994-04-29 1995-11-09 Älvsjö Data Ab Vehicule porte et actionne par des jambes articulees
WO1996007580A1 (fr) 1994-09-06 1996-03-14 Uragami Fukashi Appareil capable de monter et de se mouvoir sur la surface d'un objet
US5842533A (en) * 1994-12-02 1998-12-01 Agency Of Industrial Science And Technology, Ministry Of International Trade And Industry Multi-legged walking apparatus
DE19547687A1 (de) 1995-12-20 1997-06-26 Rexroth Mannesmann Gmbh Hydraulischer Antrieb, insbesondere für ein Ruder eines Schiffes

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6564888B1 (en) * 1999-08-30 2003-05-20 Honda Giken Kogyo Kabushiki Kaisha Biped mobile robot
US20040261561A1 (en) * 2001-11-09 2004-12-30 Toru Takenaka Leg joint assist device for legged movable robot
US7143850B2 (en) * 2001-11-09 2006-12-05 Honda Giken Kogyo Kabushiki Kaisha Leg joint assist device for legged movable robot
US20070169966A1 (en) * 2003-05-07 2007-07-26 Bim Kemi Ab Off-road vehicle comprising ambulatory limbs
US9422947B1 (en) * 2010-02-16 2016-08-23 Vecna Technologies, Inc. High efficiency actuator method, system and apparatus
US8567185B1 (en) * 2010-02-16 2013-10-29 Vecna Technologies, Inc. High efficiency actuator method, system and apparatus
CN103867504A (zh) * 2014-03-27 2014-06-18 昆山市工业技术研究院有限责任公司 一种机器人转动关节驱动装置及驱动方法
CN103994119A (zh) * 2014-06-12 2014-08-20 苏州劳灵精密机械有限公司 一种铰接内杆式双作用缸
CN104454710A (zh) * 2014-10-29 2015-03-25 吴家集 旋转运动控制系统
US20160258451A1 (en) * 2015-03-05 2016-09-08 Paul S. Anderson Hydraulic Cylinder Drive System
US9835182B2 (en) * 2015-03-05 2017-12-05 Paul S. Anderson Hydraulic cylinder drive system
CN104930010A (zh) * 2015-06-01 2015-09-23 吴家集 震动打桩机液压系统
CN106812735A (zh) * 2017-02-13 2017-06-09 德迈智能装备有限公司 一种双缸液压旋转装置的控制方法
CN107642512A (zh) * 2017-10-19 2018-01-30 燕山大学 一种电液驱动间歇性摆动机构
CN111923081A (zh) * 2020-09-22 2020-11-13 佛山市鼎吉包装技术有限公司 一种用于驱动机械臂末端夹爪旋转的双气缸推挽驱动装置

Also Published As

Publication number Publication date
WO1998013251A1 (fr) 1998-04-02
DE19782018B4 (de) 2005-08-04
SE517469C2 (sv) 2002-06-11
SE9900948L (sv) 1999-04-30
CA2266558C (fr) 2006-07-11
FI963823A0 (fi) 1996-09-25
DE19782018T1 (de) 1999-12-16
AU4387397A (en) 1998-04-17
CA2266558A1 (fr) 1998-04-02
SE9900948D0 (sv) 1999-03-17
FI100873B (fi) 1998-03-13

Similar Documents

Publication Publication Date Title
US6193002B1 (en) Actuator for accomplishing the swinging motion of a swinging arm
US4630441A (en) Electrohydraulic actuator for aircraft control surfaces
KR970011608B1 (ko) 건설기계의 선회토르크 제어장치(an apparatus for controlling turning torque in a construction equipment)
US6454542B1 (en) Hydraulic cylinder powered double acting duplex piston pump
JPH06571B2 (ja) 往復コンベア
US9068578B2 (en) Hydraulic system having flow combining capabilities
US5293745A (en) Fluid power regenerator
US20130098013A1 (en) Closed-loop system having multi-circuit flow sharing
US3800669A (en) Control valve arrangement for a hydraulic drive
WO2013059386A1 (fr) Système hydraulique comprenant plusieurs circuits en boucle fermée
US8919114B2 (en) Closed-loop hydraulic system having priority-based sharing
US8978373B2 (en) Meterless hydraulic system having flow sharing and combining functionality
CN113606207A (zh) 一种装载机液压系统及装载机
EP0719948A2 (fr) Dispositif de la marche en ligne droite pour engins de construction lourds
JP2018087634A (ja) 建設機械用液圧システム
US4974994A (en) Hydrostatic drive for wave generating systems in swimming pools
FI122922B (fi) Menetelmä erityisesti työkoneen yhteydessä olevaa nostopuomistoa käyttävässä ja ohjaavassa paineväliainejärjestelmässä
KR940009535B1 (ko) 2-실린더 점성 유체 펌프
CN214454302U (zh) 一种皮带机自移伸缩式移动机尾液压系统
SU1208277A1 (ru) Погрузочна машина
JPH0526526U (ja) スタビライザ制御装置
KR100503611B1 (ko) 텔레스코픽 핸들러의 유압 제어 시스템
JPH0144850B2 (fr)
SU1206133A1 (ru) Гидравлический привод передвижени строительно-дорожной машины
SU839860A1 (ru) Судова рулева машина

Legal Events

Date Code Title Description
AS Assignment

Owner name: PLUSTECH OY, FINLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:PAAKKUNAINEN, MARKO;REEL/FRAME:010411/0020

Effective date: 19990317

FPAY Fee payment

Year of fee payment: 4

AS Assignment

Owner name: JOHN DEERE FORESTRY OY, FINLAND

Free format text: MERGER;ASSIGNOR:PLUSTECH OY;REEL/FRAME:021439/0026

Effective date: 20060930

Owner name: JOHN DEERE FORESTRY OY,FINLAND

Free format text: MERGER;ASSIGNOR:PLUSTECH OY;REEL/FRAME:021439/0026

Effective date: 20060930

FPAY Fee payment

Year of fee payment: 8

REMI Maintenance fee reminder mailed
REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20130227